Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 13, issue 1
Articles | Volume 13, issue 1
https://doi.org/10.5194/ms-13-495-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-13-495-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 13, issue 1
Research article
 | 
07 Jun 2022
Research article |  | 07 Jun 2022

Kinematics and control of a cable-driven snake-like manipulator for underwater application

Fufeng Xue and Zhimin Fan

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Short summary
To date, most underwater manipulators have been rigid-link structures with a small number of degrees of freedom and have been unable to perform well in confined spaces. Due to their high dexterity and good adaptability to different environments, snake-like manipulators have strong potential for use in complex underwater applications. In this study, a tip-following algorithm is presented to weave through confined and hazardous spaces along a defined path with high efficiency.
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